[10] | 1 | // %flair:license{
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[15] | 2 | // This file is part of the Flair framework distributed under the
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| 3 | // CECILL-C License, Version 1.0.
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[10] | 4 | // %flair:license}
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[7] | 5 | // created: 2014/04/30
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| 6 | // filename: ControlLaw.cpp
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| 7 | //
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| 8 | // author: Guillaume Sanahuja
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| 9 | // Copyright Heudiasyc UMR UTC/CNRS 7253
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| 10 | //
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| 11 | // version: $Id: $
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| 12 | //
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| 13 | // purpose: Base class for control law
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| 14 | //
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| 15 | //
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| 16 | /*********************************************************************/
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| 17 |
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| 18 | #include "ControlLaw.h"
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| 19 | #include <cvmatrix.h>
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| 20 | #include <cvmatrix_descriptor.h>
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| 21 | #include <DataPlot1D.h>
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| 22 | #include <sstream>
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| 23 |
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| 24 | using std::string;
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| 25 | using namespace flair::core;
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| 26 | using namespace flair::gui;
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| 27 |
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| 28 | namespace flair {
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| 29 | namespace filter {
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| 30 |
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[15] | 31 | ControlLaw::ControlLaw(const Object *parent, string name, uint32_t nb_out)
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| 32 | : IODevice(parent, name) {
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| 33 | if (nb_out == 1) {
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| 34 | output = new cvmatrix(this, nb_out, 1, floatType, name);
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| 35 | } else {
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| 36 | cvmatrix_descriptor *desc = new cvmatrix_descriptor(nb_out, 1);
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| 37 | for (int i = 0; i < nb_out; i++) {
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| 38 | std::stringstream ss;
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| 39 | ss << i;
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| 40 | desc->SetElementName(i, 0, ss.str());
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[7] | 41 | }
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[15] | 42 | output = new cvmatrix(this, desc, floatType, name);
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| 43 | }
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[7] | 44 |
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[15] | 45 | input = NULL;
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| 46 | AddDataToLog(output);
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[7] | 47 | }
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| 48 |
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[15] | 49 | ControlLaw::~ControlLaw(void) {}
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[7] | 50 |
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| 51 | void ControlLaw::Update(Time time) {
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[15] | 52 | input->SetDataTime(time);
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| 53 | UpdateFrom(input);
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[7] | 54 | }
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| 55 |
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| 56 | float ControlLaw::Output(uint32_t index) const {
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[15] | 57 | return output->Value(index, 0);
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[7] | 58 | }
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| 59 |
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[15] | 60 | void ControlLaw::UseDefaultPlot(const LayoutPosition *position) {
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| 61 | if (output->Rows() != 1)
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| 62 | Warn("Output size is different from 1. Plotting only Output(1,1).\n");
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[7] | 63 |
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[15] | 64 | DataPlot1D *plot = new DataPlot1D(position, ObjectName(), -1, 1);
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| 65 | plot->AddCurve(output->Element(0));
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[7] | 66 | }
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| 67 | } // end namespace filter
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| 68 | } // end namespace flair
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